WO2009061654A2 - Véhicule terrestre à usages multiples - Google Patents

Véhicule terrestre à usages multiples Download PDF

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Publication number
WO2009061654A2
WO2009061654A2 PCT/US2008/081690 US2008081690W WO2009061654A2 WO 2009061654 A2 WO2009061654 A2 WO 2009061654A2 US 2008081690 W US2008081690 W US 2008081690W WO 2009061654 A2 WO2009061654 A2 WO 2009061654A2
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
track
chassis
rotary actuator
suspension
Prior art date
Application number
PCT/US2008/081690
Other languages
English (en)
Other versions
WO2009061654A3 (fr
Inventor
Glen Raymond Simula
Luke Stephen Luskin
David Jon Mckinstry
Original Assignee
Gs Engineering, Inc.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Gs Engineering, Inc. filed Critical Gs Engineering, Inc.
Publication of WO2009061654A2 publication Critical patent/WO2009061654A2/fr
Publication of WO2009061654A3 publication Critical patent/WO2009061654A3/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D55/00—Endless track vehicles
    • B62D55/06—Endless track vehicles with tracks without ground wheels
    • B62D55/065—Multi-track vehicles, i.e. more than two tracks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D55/00—Endless track vehicles
    • B62D55/06—Endless track vehicles with tracks without ground wheels
    • B62D55/075—Tracked vehicles for ascending or descending stairs, steep slopes or vertical surfaces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D55/00—Endless track vehicles
    • B62D55/08—Endless track units; Parts thereof
    • B62D55/084—Endless-track units or carriages mounted separably, adjustably or extensibly on vehicles, e.g. portable track units
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D55/00—Endless track vehicles
    • B62D55/08—Endless track units; Parts thereof
    • B62D55/104—Suspension devices for wheels, rollers, bogies or frames
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D55/00—Endless track vehicles
    • B62D55/08—Endless track units; Parts thereof
    • B62D55/104—Suspension devices for wheels, rollers, bogies or frames
    • B62D55/116—Attitude or position control of chassis by action on suspension, e.g. to compensate for a slope
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D55/00—Endless track vehicles
    • B62D55/08—Endless track units; Parts thereof
    • B62D55/30—Track-tensioning means
    • B62D55/305—Track-tensioning means acting on pivotably mounted idlers
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41H—ARMOUR; ARMOURED TURRETS; ARMOURED OR ARMED VEHICLES; MEANS OF ATTACK OR DEFENCE, e.g. CAMOUFLAGE, IN GENERAL
    • F41H7/00—Armoured or armed vehicles
    • F41H7/005—Unmanned ground vehicles, i.e. robotic, remote controlled or autonomous, mobile platforms carrying equipment for performing a military or police role, e.g. weapon systems or reconnaissance sensors

Definitions

  • the invention generally relates to a ground vehicle with track modules for carrying a pay load. More particularly, the vehicle can be deployed on uneven terrain, can assume a low profile for passing under an obstacle and can assume a raised profile for traversing obstacles.
  • Manned and unmanned vehicles may be suitable for deployment in peaceful and hostile environments.
  • wheeled vehicles can be adapted for travel over inclined and flat roads and pathways.
  • Many conventional vehicles are unsuitable in such environments because the vehicles may be unable to reliably cross fractured or debris-strewn terrain.
  • Some solutions have included equipping vehicles with large diameter wheels or crawler tracks that may enable the vehicle to circumnavigate or traverse large objects or surface discontinuities. But such approaches typically involve adding to the overall dimensions of the vehicle, which in turn may entail reducing its ability to travel through restricted gaps and add to vehicle weight. If the vehicle is required to traverse a steep slope, there is an increasing chance that it may roll over. If so, a propulsion unit, such as a wheel or track may become disassociated from the terrain and thus may be unable to propel the vehicle any further.
  • Applicant has designed and tested a band track over wheels design on an FMTV under SBIR Contract No. W56HZV-04-C-0129.
  • the invention relates to a multi-purpose ground vehicle that may serve as a platform for carrying a pay load.
  • the vehicle has a chassis and a suspension mounted to the chassis for varying ride height and for influencing a response of the chassis to underlying terrain.
  • Track modules are associated with the suspension. Generally elliptical in shape, these modules can be reoriented independently of each other. If a track module is, for example, generally elliptical with an imaginary major axis (A-A), that axis can be displaced arcuately in relation to the major axes that characterize other track modules associated with the vehicle.
  • A-A imaginary major axis
  • track modules their orientation can usefully be described in terms of a front pair of track modules and a rear pair of track modules that are separated by a left and a right side of the vehicle.
  • major axis (A-A) of the track modules on the left side are arcuately displaced toward a vertical position, while those associated with the right side remain in a generally horizontal orientation, the left side of the vehicle becomes elevated in relation to the right side, and thus the vehicle may be able to traverse in a more stable manner across a sloping terrain.
  • a suspension that has in one embodiment air springs that underlie the chassis.
  • the air springs have a low pressure state, an intermediate pressure state and a high pressure state.
  • the chassis In the high pressure state, the chassis is elevated which, together with the displacement of the major axis (A-A) of the track modules towards a vertical position, further increases the underbelly clearance.
  • One or more wheels are associated with each of the track modules.
  • the track modules include a band track that circumscribes one or more wheels that are associated with a given track module.
  • At least some of the band tracks can (e.g. describe a generally elliptical path) rotate independently of those associated with other track modules.
  • At least some of the wheels are propelled by means for turning a wheel, such as a drive shaft or suitable gearing or linkages.
  • means for propelling (such as an electric motor) are operatively connected to the means for turning.
  • FIGURE 1 is a quartering perspective view of a multi-purpose ground vehicle according to one embodiment of the present invention.
  • FIGURE 2 is a quartering perspective view of an outboard side of an embodiment of a track module
  • FIGURE 3 is a view of the inboard side thereof
  • FIGURE 4 is a top view of a horizontal section thereof
  • FIGURE 5 is a front view of a vertical section thereof
  • FIGURE 6 is an isometric view of a suspension linkage on top of which the chassis of the vehicle is mounted;
  • FIGURE 7 illustrates one embodiment of the multi-purpose ground vehicle where front and rear track modules have been rotated so that the vehicle may mount and traverse an obstacle;
  • FIGURE 8 illustrates one orientation of the vehicle and its associated track modules while bridging the obstacle, in which the front track assemblies have been rotated counterclockwise (with respect to the view of Figure 8) and the rear track assemblies have also been moved clockwise with respect to the same frame of reference;
  • FIGURE 9 illustrates an embodiment of the ground vehicle with four track modules, each of which having a major axis that is generally oriented vertically, thereby increasing the underbelly clearance below the chassis; and FIGURES 10 a, b respectively illustrate a quartering perspective view and a front view of the vehicle with its track modules oriented so as to promote stability while traversing a sloping terrain.
  • a multi-purpose ground vehicle 10 that may serve as a platform for carrying a pay load 14.
  • the vehicle 10 includes a chassis 16 that is mounted atop a suspension 18 ( Figure 6) for varying ride height and for influencing a response of the chassis 16 to underlying terrain.
  • a plurality of track modules 22, 24, 26, 28 is associated with the suspension 18.
  • the track modules 22, 24, 26, 28 can be reoriented or rotate independently of each other.
  • the term "rotate" in the context of a track module means "displace arcuately" about a fixed center 48 of an associated walking beam 78 ( Figures 3-5, 7-10).
  • an entire track module may be displaced arcuately about an axis of rotation B-B ( Figure 3) that passes through a rotary actuator 50.
  • the rotary actuator 50 is a hydraulic actuator.
  • the hydraulic rotary actuators are hydraulic pump-driven actuators that are energized by a diesel engine with a fly wheel housing.
  • an accumulated tank is provided for fast response and multiple movements.
  • each track module In one embodiment (depicted in Figures 1 , 2 & 3) each track module
  • the axis (A-A) suggests a major axis 52 of one track module.
  • the module can be displaced arcuately about an axis of rotation (B-B) by a number (n) degrees, where (n) lies between 0 and 360 ° .
  • an associated track module may be moved through a number (p) of degrees of arcuate displacement, where (p) equals (m) x (n), where (m) is an integer and (n) lies between 0 and 360 ° .
  • the plurality of track modules 22, 24, 26, 28 can be reoriented independently of each other for altering the height of the chassis 18 above the terrain or for altering a clearance of the chassis beneath an overlying object.
  • a plurality of wheels 30, 32 is associated with at least some of the plurality of track modules. At least some of the wheels are propelled by means for turning a wheel, such as a drive shaft, or gearing system.
  • a wheel such as a drive shaft, or gearing system.
  • Other examples include: an in-hub motor. Connected to the means for turning are means for propelling the means for turning. Examples of the means for propelling are an in-hub motor, a mechanical drive, a gasoline engine, a diesel engine, a fuel cell, one or more electrical batteries, and a torque generator. Other examples include an electric motor or a hybrid system.
  • Another example of the means for propelling is a diesel engine that is coupled to a high output permanent magnet generator which energizes the in-hub electrical motors associated with the wheels.
  • a band track 38 circumscribes one or more of the plurality of wheels 30, 32 associated with a track module 22, 24, 26, 28. It will be appreciated that the vehicle is able to move without the band track 38 so that it can be propelled or retarded by the wheels 30, 32. In some embodiments, the wheels 30, 32 may accommodate tires 40.
  • means 42 for tensioning the band track 38 engage the band track 38 for maintaining tension therein, regardless of orientation of the associated track module as it maneuvers over uneven terrain.
  • the means 42 for tension include a dual air-spring 60 that extends from opposite sides of an air spring mounting 80 that is fixedly connected to the walking beam 78. Extending from the air spring 60 are castor-like arrangements or idler rollers 90. Under the outward influence of the means for tensioning 42, a relatively constant tension is applied to an inside portion of the associated band track 38.
  • an idler roller linkage arm 44 extends between the means for tensioning 42 and a distal portion 46 of a walking beam 78 having a fixed center 48.
  • a rotary actuator 50 is affixed to the center 48 of the walking beam 78, the rotary actuator 50 serving to displace the distal region 46 of the walking beam 78 arcuately.
  • the vehicle includes a control system 76 that differentially pressurizes hydraulic lines to which each rotary actuator 50 is connected. The pressure created in those lines is influenced by a pump that may move in response to control signals that may be issued by an on-board or off-board controller.
  • hydraulic lines have been disclosed, it will be appreciated that pneumatic lines and pressurized air or gas may also provide suitable energizing forces.
  • the overall length of the vehicle may be about 160 inches, while its width may be about 85 inches and the track may be about 13-
  • Such a configuration may include a wheel-tire and track system that is 32 inches tall when the major axis (A-A) is in a horizontal position in each track module, in which case the nominal ride height would be about 51 inches. Additional details of the suspension 18 are depicted in Figure 6.
  • the chassis 16 (not shown in Figure 6) is affixed to the means 60 for springing, such as suspension air springs.
  • the air bag suspension is provided by Goodyear air bags that are energized by an engine-driven compressor.
  • a storage tank is provided for active system regulation.
  • Each air spring 60 is affixed to an air spring mount 80.
  • a front portion of the suspension 18 is suggested by the reference numeral 64, and a rear portion by the reference numeral 66.
  • One pair of arms 58 extend rearwardly from the pair of rotary actuator mounts 82 at the front portion 64 of the suspension 18.
  • Another pair of arms 58 extend forwardly from the rotary actuator mounts 82 that are associated with a rear portion 66.
  • Extending laterally and inwardly from the rotary actuator mounts 82 are pairs 56 of radius control arms that influence the lateral separation between the track modules that face each other at the front portion 64 of the vehicle.
  • a corresponding set of radius control arms 56 that are located adjacent the rear portion 66 of the vehicle, which serve to maintain a desired separation between the rear track modules.
  • the suspension illustrated in Figure 6 has a high, intermediate, and a low pressure state.
  • the high pressure state in combination with the influence of the rotary actuators 50 urging the band tracks 38 toward a position in which a major axis (A-A, Figure 1) of the track module 22 toward a vertical orientation, serves to elevate the chassis 16. This enables the platform 12 and associated pay load 14 to crawl over an object, as depicted in Figures 7-8.
  • the chassis 16 When the suspension 18 is in a low pressure state, the chassis 16 has a low profile and the rotary actuators 50 tends to urge the major axis (A-A) of the band tracks 38 toward a horizontal position, in which the vehicle may be able to crawl under a low overhang or maneuver in a confined tunnel with a low ceiling.
  • the suspension 18 in one embodiment is an adjustable air-ride suspension that allows greater speed, varying ride heights, and a low vibration environment for sensors and electronics that may be supported by the platform, together with a variable suspension stiffness.
  • the suspension includes four rotary actuator mounts 82 that secure the suspension 18 to associated rotary actuators 50 (Figure 3).
  • one or more radius control arms 56 extend generally laterally and inwardly from the associated rotary actuator mount 82.
  • the arms 58 extend generally longitudinally from the associated rotary actuator mount 82 toward the center of the suspension.
  • the ends 86 are secured to the lower portion of posts 88 ( Figure 1) of the chassis 16.
  • ends 90 of radius control arms 56 are pivotably connected to a frame member 92 at the front and rear of the chassis ( Figure 1).
  • Figures 7 and 8 respectively illustrate possible orientations of track modules before and while navigating over an obstacle 84.
  • track modules 24 and 26 encounter an obstacle 84 and have the major axis (A-A, Figure 1) rotated in a clockwise direction.
  • the major axis (A-A) of the track modules 22, 28 at the rear of the vehicle are displaced arcuately in a counterclockwise direction.
  • their major axes (A-A) are rotated counterclockwise, while the major axes (A-A) of the rear track modules 22, 28 are displaced in a clockwise direction.
  • the track modules are illustrated with a major axis A-A in a vertical orientation, in which the underbelly clearance between the chassis and underlying terrain is raised under the influence of the associated rotary actuators 50. Clearance is increased when the means for springing 60 are in a high pressure state.
  • Figures 10(a) and 10(b) illustrate a quarterly perspective and a front view of a vehicle when it traverses a slope 20.
  • the track modules 22, 24 have their major axes (A-A) oriented vertically, while those axes associated with the track modules 26, 28 on the other side of the vehicle are oriented horizontally.
  • A-A major axes
  • the platform 12 supports a payload 14 which may include a vision or other sensor system.
  • the payload 14 ( Figure 1) may be a weapon system, rescue hardware, fire-fighting hardware and hazardous materials handling equipment. It will be appreciated that the payload could include a robot, a human and combinations thereof.
  • a rail system may be provided on the platform 12 which detachably secures the payload 14.
  • the rail system could be provided, in some embodiments, in the form of rails that are formed on the edges of a U-shaped or I-shaped platform 12 that engage wheels or rollers that may be located on the underside of the payload 14.
  • Another alternative might include a chain and sprocket assembly that may operatively interconnect the platform 12 with the payload 14.
  • a displacement mechanism 74 may be attached to the payload 14 or the rail system for displacing the payload in relation to the rail system, thereby repositioning a center of gravity of a compound body that includes the chassis 12 and the payload 14.
  • a control system 76 may be provided that is in communication with the displacement mechanism 74 for sending a signal to the displacement mechanism 74 in response to which the payload 14 may move in relation to the track system.
  • control system 76 may also comprehend a remote control system whereby the vehicle may be maneuvered by a ground-based or aerial-based operator.
  • control system 76 may include circuitry that interconnects with a vehicle-based global positioning system (GPS). If so, a remote operator could send a signal to the vehicle so that it may be navigated from point X to point Y along a pre-determined route.
  • GPS vehicle-based global positioning system
  • an infrared or similar sensor may be provided on the platform 12 or the pay load 14. Appropriate signals could then be generated and communicated that are indicative of the distance of the vehicle 10 from a barrier 84. When the vehicle 10 impacts the barrier 84, some slippage may be expected to occur, either between the band tracks 38 and the terrain 20 and/or between the wheels 30, 32 and the associated band tracks 38. In such circumstances, when certain conditions are met, a signal may be communicated to the hydraulic actuators 50 so that they may move the major axes (A-A) by a certain number of degrees. Then, an interrogation signal could determine whether or not such arcuate displacement has produced forward motion of the vehicle. If not, the amount of arcuate displacement could be increased and a higher tractive force imparted through the in-hub electric motors (means for propelling 36).
  • the vehicle may include vision systems sensors that may be placed at multiple locations on the platform 12 or chassis 16.
  • a battery box may also be associated with the chassis for accommodating one or more on-board batteries that energize on board systems and in-hub electric motors. If desired, coolers may be provided if the operating temperatures of some components rise out of tolerance.
  • the disclosed vehicle has the following major components which respectively weigh:
  • a power train of the vehicle includes a Caterpillar inline 4 cylinder diesel engine that produces 140 horsepower and 400 lb-ft of torque that powers a permanent magnet generator.
  • a UQM power phase 120 generator can be provided that produces 120 kw of peak power, 75-100 kw continuous and 250-400 volts direct current that is attached to the fly wheel housing of the diesel engine.
  • the generator has a liquid-cooled controller that outputs a direct current voltage.
  • a cooling system can be provided which includes a large generator that cools an engine and/or small radiators for cooling electronic components.
  • the wheel motors are provided by PML Flightlink.
  • the PML Flightlink drive controllers are able to control multiple drives, provide braking controls, CAN US communication capable. This allows smooth control, even at low speeds.
  • a high mobility manned or unmanned ground vehicle platform that utilizes the benefits of both a tracked vehicle and a wheeled vehicle.
  • the track system can rotate between a horizontal position and a vertical position and through any intermediate angle that might be helpful in climbing barriers and obstacles.
  • Track tensioning devices associated with a given track module act in both directions. If the track is broken, the vehicle may ride on the wheels alone. In a low profile orientation, the vehicle can crawl under a 3.5 foot object. In a high profile orientation, the platform can crawl over a 3.6 foot object.

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Vehicle Body Suspensions (AREA)

Abstract

L'invention porte sur un véhicule terrestre à usages multiples (10), qui peut servir de plateforme (12) pour porter une charge utile (14). Le véhicule a un châssis (16) et une suspension (18) montée sur le châssis (16) pour faire varier l'assiette et pour influencer une réponse du châssis (16) au terrain sous-jacent. Des modules de chenille (22, 24, 26, 28) sont associés à la suspension. Ces modules (22, 24, 26, 28) peuvent être réorientés indépendamment les uns des autres. De préférence, au moins certains des modules de chenille (22, 24, 26, 28) comprennent une chenille à bande (38) qui entoure une ou plusieurs roues (30, 32) qui sont associées à un module de chenille donné (22, 24, 26, 28).
PCT/US2008/081690 2007-11-07 2008-10-30 Véhicule terrestre à usages multiples WO2009061654A2 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US11/936,137 US8540040B2 (en) 2007-11-07 2007-11-07 Multi-purpose ground vehicle
US11/936,137 2007-11-07

Publications (2)

Publication Number Publication Date
WO2009061654A2 true WO2009061654A2 (fr) 2009-05-14
WO2009061654A3 WO2009061654A3 (fr) 2009-06-25

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PCT/US2008/081690 WO2009061654A2 (fr) 2007-11-07 2008-10-30 Véhicule terrestre à usages multiples

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WO (1) WO2009061654A2 (fr)

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US8256542B2 (en) 2006-10-06 2012-09-04 Irobot Corporation Robotic vehicle
US8316971B2 (en) 2006-10-06 2012-11-27 Irobot Corporation Robotic vehicle
US8327960B2 (en) 2006-10-06 2012-12-11 Irobot Corporation Robotic vehicle
EP2930088A1 (fr) * 2014-04-09 2015-10-14 BIBA Bremer Institut für Produktion und Logistik GmbH Châssis, véhicule à chenilles et train en étant doté et véhicule doté d'un tel véhicule à chenilles train
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CN106956560A (zh) * 2017-02-28 2017-07-18 北京航天发射技术研究所 一种底盘多模式调高控制系统及控制方法
CN109466403A (zh) * 2018-10-13 2019-03-15 广东嗨学云教育科技有限公司 一种方便携带物资的地震救援机器人
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EP3556579B1 (fr) * 2018-04-19 2022-02-09 NAF Neunkirchener Achsenfabrik AG Bogie pour un véhicule forestier et véhicule comprenant au moins un essieu de bogie
EP4442546A2 (fr) * 2018-09-07 2024-10-09 Soucy International Inc. Système de voie
CN110949566A (zh) * 2019-12-25 2020-04-03 中国科学院沈阳自动化研究所 一种地形自适应变构型移动八轮探测机器人
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CN114274761A (zh) * 2021-12-30 2022-04-05 航天科工智能机器人有限责任公司 一种行走装置和运载设备
CN114148432A (zh) * 2022-01-12 2022-03-08 李岳 轮毂电机驱动的搬运机器人
TR2022002681A2 (tr) * 2022-02-25 2022-05-23 Elektroland Savunma Sanayi Anonim Sirketi Hem palet hem de teker üzeri̇nde hareket sağlayabi̇len i̇nsansiz kara araci
DE102022123843A1 (de) * 2022-09-16 2024-03-21 Rolls-Royce Solutions GmbH Antriebsvorrichtung für ein Nutzfahrzeug und Nutzfahrzeug mit einer solchen Antriebsvorrichtung

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